Trichogramma ball throwing device suitable for unmanned aerial vehicle throwing

Abstract

The invention belongs to the technical field of biological control, and discloses a trichogramma ball throwing device suitable for unmanned aerial vehicle throwing, which comprises an unmanned aerial vehicle mounting platform, a trichogramma ball unit group, a flexible connector, a winding device and a release control module. The bee ball unit group is formed by sequentially connecting a plurality of degradable hollow bee ball bodies; the flexible connecting bodies are connected with the adjacent bee ball bodies; the winding device comprises a rotating shaft, a circumferential limiting assembly for restraining and winding the bee ball unit group and an end part locking mechanism for locking the end part; the release control module comprises a frame in rigid connection with the unmanned aerial vehicle mounting platform, an unlocking unit and a separation assembly for connecting the unlocking unit and the locking mechanism; the unlocking unit controls the locking mechanism to be unlocked through the separation assembly, and after unlocking, the bee ball unit set breaks away from constraint and falls under the action of gravity. Controllable release of the winding type bee ball is achieved, it is ensured that the bee ball group is accurately attached to a vegetation canopy through the flexible connecting body, the device adapts to complex wind speed terrains, and the field distribution uniformity and colonization efficiency of trichogramma are improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of biological control, and relates to a trichogramma wasp releasing device, in particular to a trichogramma wasp ball releasing device suitable for unmanned aerial vehicle (UAV) releasing. BACKGROUND

[0002] As a natural enemy of corn, rice and forestry pests, the UAV releasing technology of the trichogramma wasp has been widely applied to modern agricultural pest control. At present, the UAV releasing trichogramma wasp mainly adopts a ball-shaped wasp ball in the form of a tilting doll, and the wasp ball is ejected to a target area by a special throwing device. The throwing device usually relies on a motor-driven pinion or a crank slider mechanism to eject the wasp ball at a preset frequency, and needs to be dynamically matched with the flight speed and height of the UAV.

[0003] However, the following defects may exist in the process of ejecting the wasp ball by the throwing device: firstly, the ejection initial speed is difficult to be synchronized with the UAV speed in real time due to the interference of flight speed fluctuation, transverse wind speed and terrain fluctuation, resulting in uneven distribution of the landing points of the wasp ball and forming scattered blank areas in the field; secondly, the single wasp ball has strong rolling property in the vegetation canopy, and is easy to deviate from the target area in complex terrains such as slopes and dense forests, thereby reducing the effective parasitization rate of the trichogramma wasp; and thirdly, the precise transmission parts (such as gear sets and ejection arms) of the throwing device are subjected to impact load for a long time, and are prone to jamming and deformation due to dust invasion or mechanical fatigue, thereby needing frequent maintenance and replacement.

[0004] In addition, in order to adapt to different operation scenes, the throwing device needs to repeatedly adjust the ejection parameters, which is complicated to operate and requires high technical skills of the pilot. These limitations significantly increase the time and economic cost in large-scale operation, and restrict the promotion efficiency of the biological control technology. SUMMARY

[0005] The technical problem to be solved by the application is to provide a trichogramma wasp ball releasing device suitable for UAV releasing, which can realize controllable release and adapt to complex wind speed terrains, in view of the above defects in the prior art.

[0006] To solve the above technical problem, the application adopts the following technical scheme:

[0007] The trichogramma wasp ball releasing device suitable for UAV releasing comprises an UAV mounting platform, and further comprises:

[0008] A wasp ball unit group is composed of at least two sequentially connected degradable hollow wasp ball bodies, and a channel structure for the escape of the trichogramma wasp is arranged on the surface of the wasp ball body.

[0009] A flexible connecting body is fixedly connected at both ends thereof with adjacent wasp ball bodies.

[0010] The winding device includes a rotating shaft component, a circumferential limit assembly, and an end locking mechanism. The honeycomb ball unit group is wound on the surface of the rotating shaft component. The flexible connector is synchronously wound with the honeycomb ball. The circumferential limit assembly is used to constrain the honeycomb ball unit group in the wound state. The end locking mechanism is used to lock the end of the winding device.

[0011] Release control module, including:

[0012] A frame bearing assembly rigidly connected to the UAV mounting platform;

[0013] an unlocking unit integrated into the frame carrying assembly;

[0014] a separation assembly connecting the unlocking unit and the end locking mechanism;

[0015] In which, the unlocking unit controls the end locking mechanism to switch from a locked state to an unlocked state through the separation component; when the end locking mechanism is in the unlocked state, the bee ball unit group is freed from the constraint of the circumferential limit component and falls under the action of gravity.

[0016] Preferably, the flexible connector is composed of multiple biodegradable fiber bundles in a spirally interwoven manner to form a tubular main body, with axially slidable chain links built into the tubular cavity. The chain links are connected by ball joints to form a supporting skeleton, and a viscoelastic buffer medium is filled between the outer surface of the supporting skeleton and the inner wall of the biodegradable fiber bundle.

[0017] Preferably, the end of the flexible connector is fixedly connected to a plug connector, a radial slot is provided on the side wall of the plug connector, and a connecting base is provided at both ends of the honeycomb body, a rotatable locking sleeve is embedded in the connecting base, and the radial slot is plugged into and matched with the locking sleeve to achieve one-way rotation locking.

[0018] Preferably, the winding device further comprises:

[0019] The variable diameter guide slot module is composed of two sets of coaxial radially retractable arc guide rails, and the inner surface of the arc guide rails is provided with staggered limiting ridges;

[0020] A spacing adjuster, comprising a worm gear disc and an engaged worm adjustment mechanism;

[0021] Wherein, the movable end of the arc-shaped guide rail is hinged to the worm wheel disc.

[0022] Preferably, the release control module further includes an environment sensing unit, which is integrated into the frame bearing assembly and is signal-connected to the unlocking unit, and is used to trigger the unlocking unit when it is detected that the environmental parameter reaches a preset threshold.

[0023] Preferably, the unlocking unit comprises an electromagnetic driving assembly and a linkage push rod, one end of the linkage push rod is hinged to the electromagnetic driving assembly, the other end of the linkage push rod penetrates through the separation assembly and acts on the end locking mechanism to unlock the end locking mechanism.

[0024] Preferably, the end of the variable-diameter guide groove module is provided with a centrifugal anti-loosening mechanism, the centrifugal anti-loosening mechanism comprises a counterweight swing arm and a reset spring leaf, and the swing end of the counterweight swing arm can extend into the gap formed between adjacent limiting convex edges under the action of centrifugal force.

[0025] Preferably, the outer surface of the viscoelastic buffer medium is covered with a directional slip layer, and the directional slip layer forms an axial sliding pair with the inner wall of the tubular body.

[0026] Preferably, the surface of the bee ball body is provided with an openable and closable air permeable adjusting piece, the air permeable adjusting piece is composed of a biodegradable material and is distributed in a staggered manner with the channel structure.

[0027] Preferably, the bottom of the unmanned aerial vehicle mounting platform is provided with a fairing, the fairing covers the falling path of the bee ball unit group after being released from the winding device, and the inner wall of the fairing is provided with a longitudinal flow guide rib.

[0028] The above technical scheme is adopted in the present application, and compared with the prior art, the present application has the following technical effects:

[0029] (1) The multiple linkage structure realizes precise and efficient operation of the unmanned aerial vehicle to release the trichogramma ball: the core advantages include that the fairing and the winding device shaft are engaged and linked to form a rotating air flow shear layer, which completely eliminates the winding risk of the flexible connecting body, and the centrifugal anti-loosening mechanism self-adaptively strengthens the locking depth by the centrifugal force of the unmanned aerial vehicle turning, thereby ensuring zero movement of the bee ball unit group in complex flight;

[0030] (2) In terms of environmental response, the humidity-triggered air permeable adjusting piece cooperates with the flow guide barrier to form a rotational flow ventilation to accelerate the escape of the trichogramma, and the environmental sensing unit converts the meteorological signal into a mechanical pre-action to instantaneously unlock the release control module with low power consumption;

[0031] (3) In terms of biological compatibility, the support skeleton of the flexible connecting body realizes winding pressure resistance and release straightening dual-mode switching through shape memory wire mesh torsion and recovery, and in combination with the gravity-triggered self-unlocking mechanism of the bee ball, the landing is ensured to be quickly degraded and separated. In addition, the elastic gap compensation of the variable-diameter guide groove, the diffusion channel of the fairing collision protection, and the wedge face force amplification design of the linkage push rod jointly improve the system reliability and release accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 is a schematic view of a trichogramma ball release device suitable for unmanned aerial vehicle release;

[0033] Figure 2 This is a schematic diagram of an end locking mechanism of a Trichogramma ball delivery device suitable for delivery by drones according to the present invention;

[0034] Figure 3 This is a schematic diagram of a variable-diameter guide groove module of a Trichogramma ball delivery device suitable for delivery by drones according to the present invention;

[0035] Figure 4 This is a schematic diagram of the arc guide rail and centrifugal anti-loosening mechanism of a Trichogramma ball delivery device suitable for delivery by drones of the present invention;

[0036] Figure 5 This is a schematic diagram of a flexible connector of a Trichogramma ball delivery device suitable for delivery by drones according to the present invention;

[0037] Figure 6 This is a schematic diagram of the chain link connection of a Trichogramma ball delivery device suitable for delivery by drones according to the present invention;

[0038] Figure 7 This is a schematic diagram of a guide cover and longitudinal guide ribs of a Trichogramma ball delivery device suitable for delivery by a drone according to the present invention;

[0039] Figure 8 This is a schematic diagram of a bee ball of a Trichogramma bee ball delivery device suitable for delivery by drones according to the present invention;

[0040] Figure 9 This is a schematic diagram of a plug connector and locking sleeve of a Trichogramma ball delivery device suitable for delivery by drones according to the present invention.

[0041] Wherein, each drawing mark is:

[0042] 1-UAV mounting platform; 101- fairing; 102-longitudinal guide rib;

[0043] 2-bee ball unit group; 201-bee ball body; 202-channel structure; 203-connection base; 204-locking sleeve; 205-ventilation adjustment plate;

[0044] 3-flexible connector; 301-biodegradable fiber bundle; 302-tubular body; 303-chain link; 304-spherical joint; 305-support skeleton; 306-viscoelastic buffer medium; 307-plug connector; 308-radial slot; 309-directional slip layer;

[0045] 4 - Winding device; 401 - Rotating shaft component; 402 - Circumferential limit assembly; 403 - End locking mechanism; 404 - Variable diameter guide groove module; 405 - Arc guide rail; 406 - Limiting ridge; 407 - Spacing adjuster; 408 - Worm wheel; 409 - Worm adjustment mechanism; 410 - Centrifugal anti-loosening mechanism; 411 - Counterweight swing arm; 412 - Reset spring;

[0046] 5-release control module; 501-frame bearing assembly; 502-unlocking unit; 503-separation assembly; 504-environmental sensing unit; 505-electromagnetic drive assembly; 506-linked push rod. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0048] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative work shall fall within the scope of protection of the present invention.

[0049] Example 1

[0050] As attached Figures 1 to 9 The device for delivering trichogramma balls suitable for drone delivery is shown, comprising: a drone mounting platform 1, and further comprising:

[0051] The bee ball unit group 2 is composed of at least two degradable hollow bee spheres 201 connected in sequence, and the surface of the bee sphere 201 is provided with a channel structure 202 for the escape of trichogrammatids;

[0052] The flexible connector 3 has two ends fixedly connected to the adjacent honeycomb spheres 201;

[0053] The winding device 4 includes a rotating shaft component 401, a circumferential limit assembly 402, and an end locking mechanism 403. The honeycomb unit group 2 is wound on the surface of the rotating shaft component 401, and the flexible connector 3 is synchronously wound along with the honeycomb 201. The circumferential limit assembly 402 is used to constrain the honeycomb unit group 2 in the wound state, and the end locking mechanism 403 is used to lock the end of the winding device 4.

[0054] The release control module 5 includes:

[0055] A frame bearing assembly 501 rigidly connected to the UAV mounting platform 1;

[0056] An unlocking unit 502 integrated into the frame supporting assembly 501;

[0057] a separation assembly 503 connecting the unlocking unit 502 and the end locking mechanism 403;

[0058] The unlocking unit 502 controls the end locking mechanism 403 to switch from the locked state to the unlocked state through the separation assembly 503; when the end locking mechanism 403 is in the unlocked state, the bee ball unit group 2 is released from the constraint of the circumferential limiting assembly 402 and falls under the action of gravity.

[0059] The unmanned aerial vehicle mounting platform 1 is provided with a fairing 101 at the bottom, and longitudinal flow guide ribs 102 are arranged on the inner wall of the fairing 101. The longitudinal flow guide ribs 102 are arranged in a gradually changing manner with a front sparse and rear dense structure. The front section of the ribs is processed in a streamlined guide angle to guide the airflow diversion, and the rear section is provided with a vortex suppression groove to weaken the turbulence. The upper end of the fairing 101 is connected to the unmanned aerial vehicle mounting platform 1 through a rotating bearing, and the outer edge is sleeved with a driven gear ring which is engaged with the rotating shaft component 401 of the winding device 4 to link. When the rotating shaft component 401 releases the bee ball unit group 2, the fairing 101 is rotated and driven to rotate in the opposite direction synchronously, so that the longitudinal flow guide ribs 102 form a dynamic airflow shear layer to constrain the falling trajectory. The bottom of the fairing 101 is hingedly connected with an elastic reset protection baffle, the inner surface of the baffle is embedded with the end of the longitudinal flow guide rib 102 to form a continuous flow channel, and the baffle is instantaneously expanded when the bee ball unit group 2 is separated from the circumferential limiting assembly 402 and falls to form a horn-shaped diffusion channel to prevent the end from colliding.

[0060] The bee ball unit group 2 is sequentially connected by a plurality of degradable bee ball bodies 201. A channel structure 202 is formed on the surface of the bee ball body 201 for the escape of trichogramma, and a flow guide partition is additionally arranged at the edge of the channel structure 202. Connection bases 203 are arranged at both ends of the bee ball body 201, and a rotatable locking sleeve 204 is embedded in the base. A gas permeable adjusting piece 205 is assembled on the surface, and the gas permeable adjusting piece 205 is connected to the inner wall through a micro hinge shaft. The end of the hinge shaft is sleeved with a memory alloy piece, and a humidity response push rod is arranged inside and in contact with the memory alloy piece. When the environmental humidity exceeds the standard, the push rod is extended to push the memory alloy piece to deform, drive the gas permeable adjusting piece 205 to open, and form an airflow guide angle with the flow guide partition to guide the external airflow to rotate into the ball body along the tangent direction of the channel structure 202 during falling.

[0061] The flexible connecting body 3 is fixedly connected with plug-in connectors 307 at both ends, and radial clamping grooves 308 are formed in the side wall of the plug-in connectors 307. A guide cone surface and a pressure sensitive ball are additionally arranged at the end. A spiral protrusion is arranged on the inner wall of the locking sleeve 204 to engage with a locking cavity. When the plug-in connector 307 is inserted, the guide cone surface extrudes the spiral protrusion to drive the locking sleeve 204 to rotate, and the pressure sensitive ball slides into the cavity to complete the radial locking. A separation spring is arranged inside the connection base 203 to press the outer wall of the locking sleeve 204 and the end surface of the plug-in connector 307. The gravity triggers the separation spring to release the pre-pressure to push the locking sleeve 204 to rotate slightly to release the locking during falling.

[0062] The flexible connector 3 comprises three or more biodegradable fiber bundles 301 spirally interwoven into a tubular body 302. Chain links 303 are embedded in the tubular lumen and connected via ball joints 304 to form a support framework 305. The joints 304 are equipped with radially limited wing plates with a low-friction coating that fit the inner wall of the tubular body 302. A viscoelastic buffer medium 306 is filled between the outer surface of the support framework 305 and the inner wall of the biodegradable fiber bundles 301. A shape memory mesh is embedded within the medium to secure the chain links 303.

[0063] When the winding device 4 is reeling, the support frame 305 is subjected to radial pressure. The ball joint 304 drives the limiting wings to spirally slide, forcing the shape memory mesh to twist and deform, storing energy. The viscoelastic buffer 306 generates a shear thickening effect to enhance compressive strength. When released, the mesh returns to its original shape, pushing the chain links 303 to axially extend, simultaneously pulling the limiting wings to expand and form a rigid support. The buffer medium then transitions to a viscous flow state, reducing sliding resistance. A directional sliding layer 309 is added between the inner wall of the tubular body 302 and the viscoelastic buffer 306 to form an axial sliding pair.

[0064] The rotating shaft component 401 of the winding device 4 is wound around the honeycomb unit group 2, and the flexible connector 3 is wound synchronously with the honeycomb 201. The circumferential limit assembly 402 includes a variable diameter guide groove module 404, which is composed of two sets of coaxial radially telescopic arc guide rails 405. The inner surface of the guide rails is provided with staggered limit ridges 406, and the base of the ridges is embedded with elastic filler blocks to automatically compensate for the gap. The spacing adjuster 407 includes a worm wheel 408 and a worm adjustment mechanism 409. The input end of the worm is connected to the servo motor and the coaxiality is compensated by a floating coupling. The edge of the worm wheel 408 is provided with an annular ratchet groove.

[0065] A pressure-adaptive pawl is installed at the movable end of the curved guide rail 405. The pawl is preloaded into the ratchet groove by a disc spring. As the worm drives the worm gear 408 to rotate, the pawl engages in stages, pulling the curved guide rail 405 to extend and retract equidistantly. A travel buffer is installed at the end of the guide rail's retractable trajectory to absorb inertial shock. A centrifugal anti-loosening mechanism 410 is added to the end of the variable-diameter guide groove module 404. This mechanism comprises a counterweight swing arm 411 and a return spring 412. A linkage slider is installed at the base of the counterweight swing arm 411, which engages a coaxial annular slideway on the worm gear 408. When the drone turns, centrifugal force pushes the counterweight swing arm 411 outward. The linkage slider, through a wedge-shaped push block, squeezes the bearing seat at the end of the worm adjustment mechanism 409, forcing the worm to fine-tune the angle of the worm gear 408, driving the curved guide rail 405 radially. This reduces the gap between the limiting ridges 406 and strengthens the locking depth of the swinging end of the counterweight swing arm 411. The return spring 412 pulls the counterweight swing arm 411 back to its original position when the centrifugal force disappears. The end locking mechanism 403 locks the end of the winding device 4 by rotating the lock tongue, and a slope groove is provided on the bottom surface of the lock tongue.

[0066] The frame bearing assembly 501 of the release control module 5 is rigidly connected with the unmanned aerial vehicle mounting platform 1, and the assembly integrates an unlocking unit 502 and an environment sensing unit 504; the unlocking unit 502 comprises an electromagnetic drive assembly 505 and a linkage push rod 506, the middle part of the push rod is provided with a double-guide sliding sleeve to form an axial sliding pair, and the end part is processed into a wedge-shaped top block; one end of the linkage push rod 506 is hingedly connected with the electromagnetic drive assembly 505, and the other end penetrates through the separation assembly 503 and acts on the slope groove of the end locking mechanism 403;

[0067] When the electromagnetic drive assembly 505 is powered, the linkage push rod 506 is pushed, the wedge-shaped top block is embedded into the slope groove to push the rotary lock tongue to deflect counterclockwise to be unlocked; the separation assembly 503 is provided with a pre-pressed spring inside to provide a reverse reset thrust, and a rebound prevention clamping claw is additionally arranged on the side of the rotary lock tongue, and when the lock tongue is deflected to an unlocking angle, the clamping claw is automatically buckled into the side wall groove to form secondary locking.

[0068] The environment sensing unit 504 is configured with a distributed temperature and humidity probe, the probe is fixed to the edge of the frame bearing assembly 501 through an elastic support, and the bottom of the support is connected with a micro piezoelectric sheet; a signal conversion sliding rail is arranged inside the assembly to movably assemble a mass block, the mass block is linked with an armature of the electromagnetic drive assembly 505 through a cable; when the temperature and humidity exceed the standard, the piezoelectric sheet is deformed to trigger the displacement of the mass block, the cable pulls the armature to generate a pre-attraction displacement, thereby reducing the electromagnetic drive power consumption; a stroke amplifier is arranged at the end of the displacement track of the mass block to press the pre-pressed spring of the separation assembly 503 to increase the initial deformation amount.

[0069] When the end locking mechanism 403 is unlocked, the honeycomb unit group 2 falls off the circumferential limiting assembly 402 under the action of gravity, the support skeleton 305 of the flexible connecting body 3 is synchronously stretched to maintain a linear posture, the longitudinal guide rib 102 of the flow guide cover 101 cooperates with the air permeability adjusting piece 205 of the honeycomb body 201 to control airflow, and the connecting body is quickly degraded and separated after landing.

[0070] Embodiment two

[0071] On the basis of the embodiment one, the scheme in the embodiment one is further refined and introduced in combination with the following specific working modes, as shown in Figures 1 to 9 The details are described below:

[0072] As a preferred embodiment, the flexible connector 3 is composed of a plurality of biodegradable fiber bundles 301 in a spiral interwoven manner to form a tubular body 302, an axially sliding link 303 is arranged inside the lumen, the links 303 are connected by spherical hinges 304 to form a support framework 305, and a viscoelastic buffer medium 306 is filled between the outer surface of the support framework 305 and the inner wall of the biodegradable fiber bundle 301; further, the spherical hinge 304 nodes of the support framework 305 are provided with radial limiting wing plates, the edges of the wing plates are coated with a low-friction coating and fit the inner wall of the tubular body 302 to form a sliding guide; a shape memory wire mesh is embedded inside the viscoelastic buffer medium 306, and the nodes of the wire mesh are fixedly connected with the links 303; when the winding device 4 winds the honeycomb unit group 2, the support framework 305 is subjected to radial pressure, the spherical hinge 304 nodes drive the radial limiting wing plates to spiral slide along the inner wall of the tubular body 302, forcing the shape memory wire mesh to twist and deform to store elastic potential energy; during the release and falling process, the wire mesh restores its original shape to push the links 303 to axially stretch, synchronously pulling the radial limiting wing plates to expand to form a rigid support; at the same time, the viscoelastic buffer medium 306 generates a shear thickening effect when the wire mesh twists and deforms, enhancing the compression resistance in the wound state, and turning into a viscous flow state when the wire mesh restores and stretches, reducing the sliding resistance of the framework. This linkage structure triggers the rigid-flexible conversion of the framework through the state switching of winding-release, the deformation and recovery of the shape memory wire mesh are coordinated with the change of the rheological properties of the buffer medium, realizing the dual-mode adaptive adjustment of compact folding during winding and fast straightening during release.

[0073] As a preferred embodiment, the flexible connector 3 is composed of a plurality of biodegradable fiber bundles 301 in a spiral interwoven manner to form a tubular body 302, an axially sliding link 303 is arranged inside the lumen, the links 303 are connected by spherical hinges 304 to form a support framework 305, and a viscoelastic buffer medium 306 is filled between the outer surface of the support framework 305 and the inner wall of the biodegradable fiber bundle 301; further, the spherical hinge 304 nodes of the support framework 305 are provided with radial limiting wing plates, the edges of the wing plates are coated with a low-friction coating and fit the inner wall of the tubular body 302 to form a sliding guide; a shape memory wire mesh is embedded inside the viscoelastic buffer medium 306, and the nodes of the wire mesh are fixedly connected with the links 303; when the winding device 4 winds the honeycomb unit group 2, the support framework 305 is subjected to radial pressure, the spherical hinge 304 nodes drive the radial limiting wing plates to spiral slide along the inner wall of the tubular body 302, forcing the shape memory wire mesh to twist and deform to store elastic potential energy; during the release and falling process, the wire mesh restores its original shape to push the links 303 to axially stretch, synchronously pulling the radial limiting wing plates to expand to form a rigid support; at the same time, the viscoelastic buffer medium 306 generates a shear thickening effect when the wire mesh twists and deforms, enhancing the compression resistance in the wound state, and turning into a viscous flow state when the wire mesh restores and stretches, reducing the sliding resistance of the framework. This linkage structure triggers the rigid-flexible conversion of the framework through the state switching of winding-release, the deformation and recovery of the shape memory wire mesh are coordinated with the change of the rheological properties of the buffer medium, realizing the dual-mode adaptive adjustment of compact folding during winding and fast straightening during release.

[0074] As a preferred embodiment, the winding device 4 further comprises:

[0075] The variable-diameter guide groove module 404 is composed of two groups of coaxial radially telescopic arc-shaped guide rails 405, and the inner surface of the arc-shaped guide rails 405 is provided with staggered limiting protrusions 406;

[0076] The pitch adjuster 407 comprises a worm wheel disc 408 and a worm adjuster mechanism 409 engaged therewith;

[0077] The movable end of the arc-shaped guide rail 405 is hinged to the worm wheel disc 408, and further, the input end of the worm adjuster mechanism 409 is connected to the output shaft of the servo motor, and the output shaft compensates for the coaxiality deviation through the floating coupling. The edge of the worm wheel disc 408 is provided with an annular ratchet groove, and the movable end of the arc-shaped guide rail 405 is provided with a pressure self-adaptive pawl, which is pre-pressed against the tooth surface of the ratchet groove by a disc spring. When the worm adjuster mechanism 409 drives the worm wheel disc 408 to rotate, the pawl is displaced along the ratchet groove in a step-by-step engagement, synchronously pulling the two groups of arc-shaped guide rails 405 to expand or contract radially at equal distances. The end of the telescopic track of the arc-shaped guide rail 405 is provided with a stroke buffer, and the buffer is embedded with a reset spring in contact with the hub of the worm wheel disc 408, which absorbs the inertial impact when the guide rail is contracted. The root of the limiting protrusion 406 is embedded with an elastic filler block, which automatically compensates for the gap width of the protrusion with the radial telescopic guide rail. This linkage structure realizes the synchronous variable-diameter of the guide rail through the rigid transmission of the ratchet-pawl, eliminates the interference of assembly errors by the floating coupling, and maintains the continuous wrapping constraint of the honeycomb unit group 2 during the winding process by the elastic filler block.

[0078] As a preferred embodiment, the release control module 5 also includes an environmental sensing unit 504, which is integrated into the frame bearing assembly 501 and signal-connected to the unlocking unit 502, and is used to trigger the unlocking unit 502 when it detects that the environmental parameters reach a preset threshold; further, the environmental sensing unit 504 is configured with multiple groups of distributed temperature and humidity probes, the probe ends extend to the edge of the frame bearing assembly 501 and are fixed by elastic brackets, and the bottom of the elastic bracket is connected to a micro piezoelectric piece; a signal conversion slide rail is provided inside the frame bearing assembly 501, and a mass block is movably assembled on the slide rail, and the mass block is linked to the armature of the electromagnetic drive assembly 505 through a cable; when the temperature and humidity probe detects that the environmental parameters exceed the standard, the piezoelectric piece deforms and triggers the mass block to move along the slide rail, and the cable synchronously pulls the armature to produce a pre-attraction displacement; at this time, the electromagnetic drive assembly 505 is energized to absorb the armature with lower power consumption, driving the linked push rod 506 to accelerate; at the same time, a stroke amplifier is provided at the end of the displacement trajectory of the mass block, and the output shaft of the amplifier presses the pre-compression spring of the separation assembly 503 to increase its initial deformation. This linkage structure directly converts the environmental signal into a mechanical pre-action, reducing the triggering energy consumption of the electromagnetic drive component 505. The stroke amplifier simultaneously strengthens the release stroke of the separation component 503 to ensure that the bee ball unit group 2 is instantly separated under the standard environment.

[0079] As a preferred embodiment, the unlocking unit 502 includes an electromagnetic drive component 505 and a linkage push rod 506, one end of the linkage push rod 506 is hinged to the electromagnetic drive component 505, and the other end passes through the separation component 503 and acts on the end locking mechanism 403 to unlock it; further, a double guide sleeve is provided in the middle of the linkage push rod 506, the inner wall of the sleeve is fitted with a self-lubricating bushing to form an axial sliding pair, and the end of the push rod is processed into a wedge-shaped top block; a rotating lock tongue is provided inside the end locking mechanism 403, and a slope groove matching the wedge-shaped top block is provided on the bottom surface of the lock tongue; when the electromagnetic drive component When power is applied to 505, the linkage push rod 506 is pushed axially along the sleeve, and the wedge-shaped top block engages the ramp groove, pushing the rotary lock tongue counterclockwise, releasing the lock on the end of the winding device 4. Simultaneously, the separation assembly 503 has a built-in preloaded spring, the ends of which respectively abut the limiting boss of the linkage push rod 506 and the housing of the separation assembly 503, providing a reverse reset thrust after the unlocking action is completed. An anti-rebound claw is added to the side of the rotary lock tongue, hinged to the base of the end locking mechanism 403 via a torsion spring. When the rotary lock tongue deflects to the unlocking angle, the claw, under the action of the torsion spring, automatically engages the groove on the lock tongue's side wall, forming a secondary lock. This linkage structure achieves low-power unlocking through wedge-slope force amplification. The dual-guide sleeve eliminates push rod deflection, and the anti-rebound claw ensures that the locking mechanism remains in a stable open state when the bee ball unit group 2 is released.

[0080] As a preferred embodiment, a centrifugal anti-loosening mechanism 410 is provided at the end of the variable diameter guide groove module 404, and the centrifugal anti-loosening mechanism 410 includes a counterweight swing arm 411 and a reset spring 412. The swing end of the counterweight swing arm 411 can extend into the gap formed between the adjacent limiting ridges 406 under the action of centrifugal force; further, a linkage slider is provided at the root of the counterweight swing arm 411, and the slider is embedded in the annular slideway at the end of the variable diameter guide groove module 404, and the annular slideway is coaxially fixed with the worm wheel 408 of the spacing adjuster 407; when the UAV turns to generate centrifugal force, The counterweight swing arm 411 swings outward, pushing the linkage slider along the annular slide. The slider, through the wedge-shaped push block, squeezes the end bearing seat of the worm gear adjustment mechanism 409, forcing the worm gear adjustment mechanism 409 to fine-tune the rotation angle of the worm gear 408. The change in the angle of the worm gear 408 drives the radial contraction of the arc guide rail 405, adaptively reducing the gap width of the limiting ridge 406, strengthening the locking depth of the swing end of the counterweight swing arm 411. At the same time, the preload direction of the reset spring 412 is perpendicular to the displacement direction of the linkage slider. When the centrifugal force disappears, the spring torque pulls the counterweight swing arm 411 back to its initial position. This linkage structure triggers the active diameter adjustment of the guide groove module through centrifugal force, automatically enhancing the anti-loosening locking force of the winding device 4 by utilizing the drone's maneuvering movements, and suppressing the radial movement of the honeycomb unit group 2 under complex flight conditions.

[0081] As a preferred embodiment, the outer surface of the viscoelastic buffer medium 306 is coated with a directional slip layer 309, and the directional slip layer 309 forms an axial sliding pair with the inner wall of the tubular body 302; further, the outer surface of the directional slip layer 309 facing the inner wall of the tubular body 302 is provided with a guide rib extending in the axial direction, and the guide rib is embedded in the axial groove correspondingly opened on the inner wall of the tubular body 302 to limit its circumferential rotation. At the same time, the directional slip layer 309 is tightly fitted with the medium on the inner surface facing the viscoelastic buffer medium 306, and is provided with a fixed rib or a rough texture structure to prevent the two from sliding relative to each other. When the flexible connector is subjected to external force, causing the chain link of the supporting skeleton to slide axially or the ball joint to rotate, the chain link directly drives the viscoelastic buffer medium 306 to deform through the protrusions or grooves on its surface. The deformation force of the viscoelastic buffer medium 306 drives the directional slip layer 309 fixed to it to slide synchronously along the axial groove of the inner wall of the tubular body 302, thereby realizing the transmission of buffering force and axial displacement compensation.

[0082] As a preferred embodiment, the surface of the bee sphere 201 is provided with an openable and closable breathable adjustment sheet 205, which is made of biodegradable material and is staggered with the channel structure 202; further, the breathable adjustment sheet 205 is connected to the inner wall of the bee sphere 201 through a micro-hinge shaft, and the end of the hinge shaft is sleeved with a memory alloy sheet; a humidity-responsive push rod is provided inside the bee sphere 201, and the top of the push rod contacts the memory alloy sheet to form a linkage fulcrum; when the ambient humidity reaches a preset threshold, the humidity-responsive push rod extends axially to push the memory alloy sheet to deform, driving the breathable adjustment sheet 205 to rotate around the hinge shaft to open; at the same time, a guide grille is provided on the edge of the channel structure 202, and the inclination angle of the grille forms an airflow guide angle with the breathable adjustment sheet 205 in the open state; during the falling process of the bee sphere 201, the opened breathable adjustment sheet 205 and the guide grille cooperate to change the airflow path, so that the external airflow is introduced into the interior of the bee sphere 201 along the tangential direction of the channel structure 202. This linkage structure triggers the directional opening and closing of the air-permeable adjustment plate 205 through environmental parameters, and cooperates with the guide grille to form swirl ventilation, which not only accelerates the escape response of the trichogrammatid but also avoids humidity overload in the sphere when falling.

[0083] As a preferred embodiment, a deflector 101 is provided at the bottom of the UAV mounting platform 1, and the deflector 101 covers the falling path of the bee ball unit group 2 after being released from the winding device 4, and its inner wall is provided with longitudinal guide ribs 102; further, the longitudinal guide ribs 102 adopt a gradient arrangement with sparse front and dense back, the front section of the ribs is a streamlined guide angle to divert the airflow, and the rear section is provided with a vortex suppression groove; the upper end of the deflector 101 is connected to the UAV mounting platform 1 through a rotating bearing, and its outer edge is sleeved with the driven gear ring and the rotating shaft component of the winding device 4 401 meshes and engages; when the winding device 4 releases the honeycomb unit assembly 2, the rotating shaft component 401 rotates and drives the deflector 101 to rotate synchronously in the opposite direction, causing the longitudinal guide ribs 102 to form a dynamic airflow shear layer; the bottom of the deflector 101 is hinged with an elastically resettable protective baffle, the inner surface of which engages the ends of the longitudinal guide ribs 102 to form a continuous flow channel. When the honeycomb unit assembly 2 breaks away from the circumferential limit assembly 402, the falling honeycomb 201 hits the protective baffle, causing it to instantly unfold. After unfolding, the baffle and the longitudinal guide ribs 102 together form a trumpet-shaped diffusion channel. This linkage structure prevents the flexible connector 3 from entangled with the static cover through the synchronous rotation of the deflector 101. The dynamic airflow shear layer suppresses the random drift of the honeycomb 201, and the unfolding diffusion channel eliminates the risk of mutual collision at the falling ends of the honeycomb unit assembly 2.

[0084] Finally, a few points should be explained: First, in the description of this application, it should be noted that, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense, and may refer to mechanical or electrical connections, internal communication between two components, or direct connection. "Up," "down," "left," and "right" are only used to indicate relative positional relationships. When the absolute positions of the objects being described change, the relative positional relationships may also change.

[0085] Secondly, the drawings of the embodiments disclosed in the present invention only involve structures related to the embodiments disclosed in the present invention. Other structures can refer to common designs. In the absence of conflicts, the same embodiment and different embodiments of the present invention can be combined with each other.

[0086] Finally, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A device for delivering trichogramma balls suitable for drone delivery, comprising a drone mounting platform (1), characterized in that: Also includes: A bee ball unit group (2) is composed of at least two degradable hollow bee balls (201) connected in sequence, wherein the surface of the bee ball (201) is provided with a channel structure (202) for the escape of trichogrammatids; A flexible connector (3), both ends of which are fixedly connected to the adjacent honeycomb spheres (201); The winding device (4) comprises a rotating shaft component (401), a circumferential limiting component (402) and an end locking mechanism (403); the honeycomb unit group (2) is wound on the surface of the rotating shaft component (401); the flexible connector (3) is synchronously wound along with the honeycomb body (201); the circumferential limiting component (402) is used to constrain the honeycomb unit group (2) in the wound state; and the end locking mechanism (403) is used to lock the end of the winding device (4); The release control module (5) comprises: A frame bearing assembly (501) rigidly connected to the UAV mounting platform (1); An unlocking unit (502) integrated into the frame carrying assembly (501); a separation assembly (503) connecting the unlocking unit (502) and the end locking mechanism (403); The unlocking unit (502) controls the end locking mechanism (403) to switch from a locked state to an unlocked state through the separation component (503); when the end locking mechanism (403) is in the unlocked state, the bee ball unit group (2) is freed from the constraint of the circumferential limiting component (402) under the action of gravity and falls.

2. A Trichogramma ball delivery device suitable for drone delivery according to claim 1, characterized in that: The flexible connector (3) is formed of a tubular body (302) formed by spirally interweaving a plurality of biodegradable fiber bundles (301), wherein an axially slidable chain link (303) is built into the tubular cavity, and the chain links (303) are connected by ball joints (304) to form a support skeleton (305), and a viscoelastic buffer medium (306) is filled between the outer surface of the support skeleton (305) and the inner wall of the biodegradable fiber bundle (301).

3. A Trichogramma ball delivery device suitable for drone delivery according to claim 2, characterized in that: The flexible connector (3) is fixedly connected to a plug connector (307) at its end, and a radial slot (308) is provided on a side wall of the plug connector (307). The honeycomb sphere (201) is provided with a connecting base (203) at both ends, and a rotatable locking sleeve (204) is embedded in the connecting base (203). The radial slot (308) is plugged into and matched with the locking sleeve (204) to achieve one-way rotation locking.

4. The Trichogramma ball delivery device suitable for drone delivery according to claim 1, characterized in that: The winding device (4) further comprises: The variable diameter guide groove module (404) is composed of two sets of coaxial radially retractable arc guide rails (405), wherein the inner surface of the arc guide rails (405) is provided with staggered limiting ridges (406); A spacing adjuster (407) comprising a worm wheel (408) and an engaged worm adjustment mechanism (409); The movable end of the arc-shaped guide rail (405) is hinged to the worm wheel (408).

5. The Trichogramma ball delivery device suitable for drone delivery according to claim 1, characterized in that: The release control module (5) further comprises an environment sensing unit (504), which is integrated into the frame bearing assembly (501) and connected to the unlocking unit (502) via a signal, and is used to trigger the unlocking unit (502) when it is detected that an environmental parameter reaches a preset threshold.

6. The Trichogramma ball delivery device suitable for drone delivery according to claim 1, characterized in that: The unlocking unit (502) comprises an electromagnetic drive assembly (505) and a linkage push rod (506), one end of the linkage push rod (506) is hinged to the electromagnetic drive assembly (505), and the other end passes through the separation assembly (503) and acts on the end locking mechanism (403) to unlock it.

7. The device for delivering trichogramma balls suitable for drone delivery according to claim 4, characterized in that: A centrifugal anti-loosening mechanism (410) is provided at the end of the variable diameter guide groove module (404). The centrifugal anti-loosening mechanism (410) comprises a counterweight swing arm (411) and a reset spring (412). The swing end of the counterweight swing arm (411) can extend into a gap formed between adjacent limiting ridges (406) under the action of centrifugal force.

8. The Trichogramma ball delivery device suitable for drone delivery according to claim 2, characterized in that: The outer surface of the viscoelastic buffer medium (306) is coated with a directional slip layer (309), and the directional slip layer (309) forms an axial sliding pair with the inner wall of the tubular body (302).

9. The Trichogramma ball delivery device suitable for drone delivery according to claim 1, characterized in that: An openable and closable ventilation adjustment sheet (205) is provided on the surface of the bee sphere (201); the ventilation adjustment sheet (205) is made of biodegradable material and is staggered with respect to the channel structure (202).

10. The Trichogramma ball delivery device suitable for drone delivery according to claim 1, characterized in that: A deflector (101) is provided at the bottom of the drone mounting platform (1), and the deflector (101) covers the falling path of the bee ball unit group (2) after being released from the winding device (4), and the inner wall of the deflector is provided with longitudinal deflector ribs (102).

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